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Breaking change: Add surface normal output to MuJoCo raycast functions.

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PiperOrigin-RevId: 855781592
Change-Id: Id96b1ca7eaf722e260cc69d7706c28dc51f52d92
This commit is contained in:
Yuval Tassa
2026-01-13 10:21:31 -08:00
committed by Copybara-Service
parent 37762e3f70
commit 218226fc95
17 changed files with 457 additions and 326 deletions
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src/engine/engine_vis_interact.c
+6 -5
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@@ -840,7 +840,8 @@ int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
// find intersection with geoms
*geomid = -1;
mjtNum geomdist = mj_ray(m, d, pos, ray, vopt->geomgroup, vopt->flags[mjVIS_STATIC], -1, geomid);
mjtNum geomdist = mj_ray(m, d, pos, ray,
vopt->geomgroup, vopt->flags[mjVIS_STATIC], -1, geomid, NULL);
// find intersection with flexes
int flexbodyid = -1;
@@ -852,10 +853,10 @@ int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
for (int i=0; i < m->nflex; i++) {
// process one flex
int vertid;
mjtNum newdist = mju_rayFlex(m, d, vopt->flex_layer,
vopt->flags[mjVIS_FLEXVERT], vopt->flags[mjVIS_FLEXEDGE],
vopt->flags[mjVIS_FLEXFACE], vopt->flags[mjVIS_FLEXSKIN],
i, pos, ray, &vertid);
mjtNum newdist =
mj_rayFlex(m, d, vopt->flex_layer, vopt->flags[mjVIS_FLEXVERT],
vopt->flags[mjVIS_FLEXEDGE], vopt->flags[mjVIS_FLEXFACE],
vopt->flags[mjVIS_FLEXSKIN], i, pos, ray, &vertid, NULL);
// update if closer intersection found
if (newdist >= 0 && (newdist < flexdist || flexdist < 0)) {